CN109455203A - Train running speed autocontrol method, device, equipment, system and medium - Google Patents
Train running speed autocontrol method, device, equipment, system and medium Download PDFInfo
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- CN109455203A CN109455203A CN201910077359.1A CN201910077359A CN109455203A CN 109455203 A CN109455203 A CN 109455203A CN 201910077359 A CN201910077359 A CN 201910077359A CN 109455203 A CN109455203 A CN 109455203A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/04—Automatic systems, e.g. controlled by train; Change-over to manual control
Abstract
This application discloses a kind of train running speed autocontrol methods, comprising: receives the actual speed that velocity sensor is sent and the actual acceleration that acceleration transducer is sent；According to target velocity and actual speed calculating speed error；Reference acceleration is calculated according to velocity error；Acceleration error is calculated according to reference acceleration and actual acceleration；It is calculated using pre-set control algorithm according to acceleration error；The trailer system or braking system of corresponding Train Control amount to train are exported, to adjust actual speed.The application is automatically controlled based on acceleration error and to the speed of service of train, can effectively improve control precision and robustness, is inhibited the big concussion and mutation of train running speed to a certain extent, is improved the riding comfort of passengers.Present invention also provides a kind of train running speed automatic control device, equipment, system and computer readable storage mediums, equally have above-mentioned beneficial effect.
Description
Technical field
This application involves Train Control Technology field, in particular to a kind of train running speed autocontrol method, device,
Equipment, system and computer readable storage medium.
Background technique
With the high speed development of China's rail traffic, train high efficiency, highdensity operation demand constantly increase, to track
The requirement of Train Control Technology is also higher and higher in traffic, communication-based train control system (Communication Based
Train Control System, CBTC) it comes into being.Train automated driving system (Automatic Train
Operation, ATO) it is one of core system in train control system, real-time monitoring etc. can be carried out to train running speed,
Train automatic Pilot is realized, to improve train operation efficiency and reduce the labor intensity in transportation cost and driver's work.It is existing
Having in technology, regulation is drawn or braked to the velocity error that train automated driving system is generally based on directly on train,
And since speed signal generally has delay issue, influence whether final control precision, also, the Shandong of the control method
Stick is poor, when speed mutates or occurs compared with large disturbances, can seriously reduce the riding comfort of passenger.In consideration of it,
A kind of solution to the problems described above is provided, is that those skilled in the art need concern at present.
Summary of the invention
The application's is designed to provide a kind of train running speed autocontrol method, device, equipment, system and calculating
Machine readable storage medium storing program for executing ensures the riding comfort of passenger to effectively improve control precision and robustness.
In order to solve the above technical problems, in a first aspect, the application provides a kind of train running speed autocontrol method, packet
It includes:
Receive the actual speed that velocity sensor is sent and the actual acceleration that acceleration transducer is sent；
According to target velocity and the actual speed calculating speed error；
Reference acceleration is calculated according to the velocity error；
Acceleration error is calculated according to the reference acceleration and the actual acceleration；
It is calculated using pre-set control algorithm according to the acceleration error；
The trailer system or braking system of corresponding Train Control amount to train are exported, to adjust the actual speed.
Optionally, described to include: according to velocity error calculating reference acceleration
It is instructed according to the train reference acceleration of input and determines reference acceleration；
According to the train, current operation traffic information determines grade acceleration；
Using the velocity error and the product of default traction braking compensating gain as compensated acceleration；
It regard the reference acceleration and the sum of the grade acceleration and the compensated acceleration as the reference acceleration.
Optionally, the use pre-set control algorithm, which calculate according to the acceleration error, includes:
PID control amount is calculated according to the acceleration error using pid control algorithm, to export according to the PID control amount
The corresponding Train Control amount to train trailer system or braking system.
Optionally, described to include: according to acceleration error calculating PID control amount using pid control algorithm
The PID control amount is calculated according to the acceleration error using isolated pid control algorithm is integrated.
Optionally, it after the use pid control algorithm calculates PID control amount according to the acceleration error, also wraps
It includes:
Low-pass filtering is carried out to the PID control amount.
Optionally, described to include: according to the corresponding Train Control amount of PID control amount output
The Train Control amount in this control period is calculated according to the PID control amount；
Judge whether the Train Control amount exceeds default control variable quantity limit value relative to the variable quantity in last control period；
If it is not, then exporting the Train Control amount；
If so, the Train Control amount is modified and is exported.
Second aspect, present invention also provides a kind of train running speed automatic control devices, comprising:
Receiving module, the actual acceleration that actual speed and acceleration transducer for receiving velocity sensor transmission are sent；
Computing module, for according to target velocity and the actual speed calculating speed error；It is calculated according to the velocity error
Reference acceleration；Acceleration error is calculated according to the reference acceleration and the actual acceleration；
Control module, for being calculated using pre-set control algorithm according to the acceleration error；
Module is adjusted, for exporting the trailer system or braking system of corresponding Train Control amount to train, described in adjusting
Actual speed.
The third aspect, present invention also provides a kind of train running speed automatic control equipments, comprising:
Memory, for storing computer program；
Processor realizes any train running speed automatic control side as described above for executing the computer program
The step of method.
Fourth aspect, present invention also provides a kind of train running speed automatic control systems, including installation is ON TRAINS
Velocity sensor, acceleration transducer and train running speed automatic control equipment as described above.
5th aspect, present invention also provides a kind of computer readable storage medium, the computer readable storage medium
In be stored with computer program, to realize any train fortune as described above when the computer program is executed by processor
The step of row speed automatic control method.
Train running speed autocontrol method provided herein includes: the practical speed for receiving velocity sensor and sending
The actual acceleration that degree and acceleration transducer are sent；According to target velocity and the actual speed calculating speed error；According to
The velocity error calculates reference acceleration；Acceleration error is calculated according to the reference acceleration and the actual acceleration；
It is calculated using pre-set control algorithm according to the acceleration error；Export the traction system of corresponding Train Control amount to train
System or braking system, to adjust the actual speed.As it can be seen that the speed of service of the application based on acceleration error and to train
It is automatically controlled, control precision and robustness can be effectively improved, inhibit the big shake of train running speed to a certain extent
It swings and is mutated, improve the riding comfort of passengers.Train running speed automatic control device provided herein is set
Above-mentioned train running speed autocontrol method may be implemented in standby, system and computer readable storage medium, equally has above-mentioned
Beneficial effect.
Detailed description of the invention
In order to illustrate more clearly of the technical solution in the prior art and the embodiment of the present application, below will to the prior art and
Attached drawing to be used is needed to make brief introduction in the embodiment of the present application description.Certainly, in relation to the attached drawing of the embodiment of the present application below
A part of the embodiment in only the application of description is not paying creativeness to those skilled in the art
Under the premise of labour, other attached drawings can also be obtained according to the attached drawing of offer, other accompanying drawings obtained also belong to the application
Protection scope.
Fig. 1 is a kind of process of specific embodiment in train running speed autocontrol method provided herein
Figure；
Fig. 2 is the flow chart of another specific embodiment in train running speed autocontrol method provided herein；
Fig. 3 is a kind of control principle drawing of train running speed autocontrol method provided herein；
Fig. 4 is a kind of structural block diagram of train running speed automatic control device provided herein；
Fig. 5 is a kind of structural block diagram of train running speed automatic control equipment provided herein.
Specific embodiment
The core of the application is to provide a kind of train running speed autocontrol method, device, equipment, system and calculating
Machine readable storage medium storing program for executing ensures the riding comfort of passenger to effectively improve control precision and robustness.
In order to which technical solutions in the embodiments of the present application is more clearly and completely described, below in conjunction with this Shen
Please attached drawing in embodiment, technical solutions in the embodiments of the present application is introduced.Obviously, described embodiment is only
Some embodiments of the present application, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall in the protection scope of this application.
The embodiment of the present application discloses a kind of train running speed autocontrol method, and shown referring to Fig.1, this method mainly includes
Following steps:
S1: the actual speed realSpeed that velocity sensor is sent and the actual acceleration that acceleration transducer is sent are received
realAcceleration。
S2: according to target velocity targetSpeed and actual speed realSpeed calculating speed error e rrVelocity.
Train running speed autocontrol method provided herein can be applied to the train in train control system certainly
In dynamic control loop.Specifically, speed control is directly carried out different from being based on velocity error in the prior art, it is provided herein
Train running speed autocontrol method, speed control is specifically carried out based on acceleration error.It is apparent that acceleration is
The differential signal of speed, is controlled based on acceleration error, can effectively prevent the play of the train speed within the individually control period
Strong variation avoids the big concussion and big overshoot of train speed, effectively improves control precision, and improve the ride comfort of passengers
Property.
For this purpose, actual speed of the application using velocity sensor detection train, and utilize acceleration transducer detection column
The actual acceleration of vehicle.According to the mode instruction being set in train control system, the target speed of current train can be determined
Degree, so as to calculate the difference of target velocity and actual speed, i.e. described velocity error:
errVelocity=targetSpeed-realSpeed。
The target that speed control is carried out using acceleration error is release rate error, and actual speed is enabled to stablize in target
Speed.
S3: reference acceleration refAcceleration is calculated according to velocity error errVelocity.
S4: it is calculated and is accelerated according to reference acceleration refAcceleration and actual acceleration realAcceleration
Spend error e rrAcceleration.
Specifically, when train is there is also when velocity error, this means that also need to carry out relevant control adjustment, also,
The size of the control amount of final output can be specifically related to the size of velocity error.Therefore, it can be calculated with specific reference to velocity error
Reference acceleration is corresponded to out, and poor with actual acceleration work, obtain the acceleration error of current train:
errAcceleration=refAcceleration-realAcceleration。
S5: it is calculated using pre-set control algorithm according to acceleration error errAcceleration.
It after obtaining acceleration error, can be controlled according to acceleration error, to calculate corresponding control amount.
As for which kind of control algolithm is specifically used, those skilled in the art can voluntarily select and be arranged realization, such as engineering may be selected
The most common pid control algorithm in, also may be selected some other intelligent control algorithm, as fuzzy control, Active Disturbance Rejection Control,
ANN Control, hereditary control algolithm etc., the application is not limited thereto.
S6: the trailer system or braking system of corresponding Train Control amount to train are exported, to adjust actual speed.
Specifically, the executing agency of train speed regulation is the trailer system and braking system of train.Wherein, trailer system
Exportable tractive force, for carrying out train acceleration or maintaining constant vehicle speed, the exportable brake force of braking system, for being arranged
Vehicle slows down.Trailer system and braking system can carry out output adjusting under the action of the control signal of train control system.
Thus train control system can generate corresponding Train Control amount according to the calculated result of pre-set control algorithm, and
It exports to trailer system or braking system.It is easily understood that when calculated result show need to push the speed when, Train Control
System exports Train Control amount to trailer system, exports tractive force by trailer system to improve the actual speed of train；Work as meter
When calculation needs to reduce speed as the result is shown, train control system exports Train Control amount to braking system, defeated by braking system
Brake force is out to reduce the actual speed of train.
It should also be noted that, since the size of tractive force and brake force directly depends on size of current, traction
System and braking system generally use electric current loop driving structure.It is calculated as a result, by pre-set control algorithm based on acceleration error
Obtained calculated result is generally required can just be fitted by certain conversion process (such as basic enhanced processing etc.) process
Train Control amount for electric current loop driving structure.Detailed process can according in actual use by the system structure of train, model
Pulling figure and the braking characteristic of the decisions such as parameter and calculated.
The application is by receiving the actual speed that velocity sensor is sent and the actual acceleration that acceleration transducer is sent；
According to target velocity and actual speed calculating speed error；Reference acceleration is calculated according to velocity error；According to reference acceleration
Acceleration error is calculated with actual acceleration；It is calculated using pre-set control algorithm according to acceleration error；It exports corresponding
Train Control amount to train trailer system or braking system, to adjust actual speed.As it can be seen that the application is missed based on acceleration
Difference and the speed of service of train is automatically controlled, control precision and robustness can be effectively improved, inhibited to a certain extent
The big concussion and mutation of train running speed, improve the riding comfort of passengers.
Referring to FIG. 2, Fig. 2 is another specific implementation in train running speed autocontrol method provided herein
The flow chart of mode.As shown in Fig. 2, on the basis of the above, as a kind of preferred embodiment, being calculated according to velocity error
Reference acceleration includes:
S23: it is instructed according to the train reference acceleration of input and determines reference acceleration basicAcceleration；According to train
Current operation traffic information determines grade acceleration gradeAcceleration；By velocity error errVelocity and preset
The product of traction braking compensating gain gain is as compensated acceleration errAcceleration.
S24: reference acceleration and the sum of grade acceleration and compensated acceleration are regard as reference acceleration.
Specifically, in the present embodiment, reference acceleration refAcceleration includes three parts:
refAcceleration=basicAcceleration+gradeAcceleration+errAcceleration。
Wherein, reference acceleration can be determined by the train reference acceleration instruction inputted.It is set in train control system
Different moments under the different driving modes set, train reference acceleration instruct the benchmark being calculated according to target velocity curve
Acceleration is also different.Common train driving mode includes start-up mode, cruise mode and braking mode.Grade acceleration can
To be determined according to current traffic information corresponding with vehicle location result；Wherein, current traffic information can pass through network technology
And obtain in real time, it can also be searched and be obtained in the traffic information of pre-stored each roadway.Compensated acceleration
It can specifically be taken as:
errAcceleration=gain*errVelocity；Wherein, gain is described default traction braking compensating gain.
It should be added that in practical applications, therefore the acceleration of train is calculated there are many restricted condition
Reference acceleration need to meet the acceleration restrictive condition under different driving modes, such as the limit to reference acceleration maximum value
System, the limitation of maximum value for controlling period internal reference acceleration change amount to adjacent two etc..If the reference being calculated accelerates
Degree has exceeded restrictive condition, then can suitably be corrected, to prevent train impingement rate excessive.
Train running speed autocontrol method provided herein, on the basis of the above, as a kind of excellent
Embodiment is selected, carrying out calculating according to acceleration error using pre-set control algorithm includes:
PID control amount is calculated according to acceleration error using pid control algorithm, to export corresponding column according to PID control amount
Vehicle control amount to train trailer system or braking system.
Specifically, extensive pid control algorithm is used to be based on as previously mentioned, the present embodiment specifically can be used in engineer application
Acceleration error is controlled, and PID control amount is calculated, and then can be calculated simultaneously output train according to PID control amount and be controlled
Amount.
Wherein, it as shown in Fig. 2, as a kind of preferred embodiment, is calculated using pid control algorithm according to acceleration error
PID control amount includes:
S26: PID control amount is calculated according to acceleration error using isolated pid control algorithm is integrated.
It specifically, include ratio control, integration control and differential control, PID control amount pidOutPut in PID control
Calculation expression are as follows:
pidOutPut = pidOutProportion + pidOutIntegration + pidOutDifferential；
Wherein, pidOutProportion is ratio control amount, and pidOutIntegration is integration control amount,
PidOutDifferential is differential control amount.
The calculation expression of ratio control amount are as follows:
PidOutProportion=kp*errAcceleration, kp are proportionality coefficient；
The calculation expression of differential control amount are as follows:
PidOutDifferential=kd* [errAcceleration (k)-errAcceleration (k-1)]/T, kd are micro-
Divide coefficient, T is the control period；
The conventionally calculation expression formula of integration control amount are as follows:
PidOutIntegration=ki*T* ∑ errAcceleration, ki are proportionality coefficient.
But since the integral that will cause in calculating process when acceleration error is excessive is built up, so that PID control
It measures excessive, and then Train Control amount may be made to have exceeded the maximum output limit of power of train, it is therefore preferred that this implementation
Example, which specifically can be used, integrates isolated pid control algorithm, that is, cancel integration control when acceleration error is greater than preset threshold,
It enables integration control amount pidOutIntegration take 0, and only carries out integral control when acceleration error is not more than preset threshold
System.
Integrate the calculation expression of isolated integration control amount are as follows:
；For acceleration error
Preset threshold.
It is the functional block diagram of train running speed autocontrol method provided herein referring to Fig. 2 and Fig. 3, Fig. 3,
On the basis of above content, as a kind of preferred embodiment, PID control is being calculated according to acceleration error using pid control algorithm
After amount processed, further includes:
S27: low-pass filtering is carried out to PID control amount.
Specifically, in order to reduce High-frequency Interference, error disturbance etc. to the adverse effect in control process, in this implementation,
PID control amount is calculated can also be further filtered by low-pass filter later, so as to further improve control
Effect.
Train running speed autocontrol method provided herein, on the basis of the above, as a kind of excellent
Embodiment is selected, exporting corresponding Train Control amount according to PID control amount includes:
The Train Control amount in this control period is calculated according to PID control amount；
Judge whether Train Control amount exceeds default control variable quantity limit value relative to the variable quantity in last control period；
If it is not, then exporting the Train Control amount；
If so, Train Control amount is modified and is exported.
Specifically, the pulling figure of train and braking characteristic etc. determine the zone of reasonableness of Train Control amount.In order to avoid
Mutation, the concussion of Train Control amount, can generally require the difference of the Train Control amount exported in former and later two control periods big
It is small without departing from default control variable quantity limit value.Specifically, a settable control variable quantity upper limit value s and a negative control variation
Measuring lower limit value t(s and t is positive value).If the Train Control amount in a upper control period is Control (k-1), this control period
Interior Train Control amount is Control (k), then can measure revised Train Control are as follows:
；
Wherein,, it is the variable quantity of Train Control amount.
Train running speed automatic control device provided herein is introduced below.
Referring to Fig. 4, Fig. 4 is a kind of structural block diagram of train running speed automatic control device provided herein；
Include:
Receiving module 1, the actual acceleration that actual speed and acceleration transducer for receiving velocity sensor transmission are sent；
Computing module 2, for according to target velocity and actual speed calculating speed error；It is calculated according to velocity error with reference to acceleration
Degree；Acceleration error is calculated according to reference acceleration and actual acceleration；
Control module 3, for being calculated using pre-set control algorithm according to acceleration error；
Module 4 is adjusted, for exporting the trailer system or braking system of corresponding Train Control amount to train, to adjust reality
Speed.
As it can be seen that the application is automatically controlled based on acceleration error and to the speed of service of train, can effectively improve
Precision and robustness are controlled, the big concussion and mutation of train running speed is inhibited to a certain extent, improves multiplying for passengers
Sit comfort.
On the basis of above content, as a kind of preferred embodiment, train running speed provided herein is controlled automatically
Device processed, computing module 2 are specifically used for: being instructed according to the train reference acceleration of input and determine reference acceleration；According to train
Current operation traffic information determines grade acceleration；Using velocity error and the product of default traction braking compensating gain as benefit
Repay acceleration；It regard reference acceleration and the sum of grade acceleration and compensated acceleration as reference acceleration.
On the basis of above content, as a kind of preferred embodiment, train running speed provided herein is controlled automatically
Device processed, control module 3 are specifically used for: PID control amount are calculated according to acceleration error using pid control algorithm, so as to basis
PID control amount exports the trailer system or braking system of corresponding Train Control amount to train.
On the basis of above content, as a kind of preferred embodiment, train running speed provided herein is controlled automatically
Device processed, control module 3 are specifically used for: calculating PID control according to acceleration error using isolated pid control algorithm is integrated
Amount.
On the basis of above content, as a kind of preferred embodiment, train running speed provided herein is controlled automatically
Device processed further includes filter module, for calculating PID control according to acceleration error using pid control algorithm in control module 3
After amount, low-pass filtering is carried out to PID control amount.
On the basis of above content, as a kind of preferred embodiment, train running speed provided herein is controlled automatically
Device processed, adjustment module 4 are specifically used for calculating the Train Control amount in this control period according to PID control amount；Judge Train Control
It measures relative to whether the variable quantity in last control period exceeds default control variable quantity limit value；If it is not, then output train control amount；
If so, Train Control amount is modified and is exported.
It further, is a kind of structure of train running speed automatic control equipment provided by the present application referring to Fig. 5, Fig. 5
Block diagram, comprising:
Memory 11, for storing computer program；
Processor 12 realizes that any train running speed as described above is automatically controlled for executing the computer program
The step of method.
Further, present invention also provides a kind of train running speed automatic control systems, including installation is ON TRAINS
Velocity sensor, acceleration transducer and train running speed automatic control equipment as described above.
Further, present invention also provides a kind of computer readable storage medium, the computer readable storage mediums
In be stored with computer program, to realize any train fortune as described above when the computer program is executed by processor
The step of row speed automatic control method.
Train running speed automatic control device, equipment, system and computer readable storage medium provided herein
Specific embodiment can correspond to each other reference with train running speed autocontrol method as described above, here just no longer
It repeats.
Each embodiment is described in a progressive manner in the application, the highlights of each of the examples are with other embodiments
Difference, the same or similar parts in each embodiment may refer to each other.For the device disclosed in the embodiment, by
It is corresponded to the methods disclosed in the examples in it, so being described relatively simple, reference may be made to the description of the method.
It should be noted that in present specification, the relational terms of such as " first " and " second " etc are used merely to
One entity or operation and another entity or operate is distinguished, without necessarily requiring or implying these entities or
There are any actual relationship or orders between person's operation.In addition, the terms "include", "comprise" or its any other
Variant is intended to non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only
It including those elements, but also including other elements that are not explicitly listed, or further include for this process, method, object
Product or the intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...",
It is not precluded in the process, method, article or apparatus that includes the element that there is also other identical elements.
Technical solution provided herein is described in detail above.Specific case used herein is to this Shen
Principle and embodiment please is expounded, the present processes that the above embodiments are only used to help understand and its
Core concept.It should be pointed out that for those skilled in the art, in the premise for not departing from the application principle
Under, can also to the application, some improvement and modification can also be carried out, these improvement and modification are also fallen into the protection scope of the application.
Claims (10)
1. a kind of train running speed autocontrol method characterized by comprising
Receive the actual speed that velocity sensor is sent and the actual acceleration that acceleration transducer is sent；
According to target velocity and the actual speed calculating speed error；
Reference acceleration is calculated according to the velocity error；
Acceleration error is calculated according to the reference acceleration and the actual acceleration；
It is calculated using pre-set control algorithm according to the acceleration error；
The trailer system or braking system of corresponding Train Control amount to train are exported, to adjust the actual speed.
2. train running speed autocontrol method according to claim 1, which is characterized in that described according to the speed
Error calculation reference acceleration includes:
It is instructed according to the train reference acceleration of input and determines reference acceleration；
According to the train, current operation traffic information determines grade acceleration；
Using the velocity error and the product of default traction braking compensating gain as compensated acceleration；
It regard the reference acceleration and the sum of the grade acceleration and the compensated acceleration as the reference acceleration.
3. train running speed autocontrol method according to claim 2, which is characterized in that described to use default control
Algorithm calculate according to the acceleration error
PID control amount is calculated according to the acceleration error using pid control algorithm, to export according to the PID control amount
The corresponding Train Control amount to train trailer system or braking system.
4. train running speed autocontrol method according to claim 3, which is characterized in that described to use PID control
Algorithm calculates PID control amount according to the acceleration error
The PID control amount is calculated according to the acceleration error using isolated pid control algorithm is integrated.
5. train running speed autocontrol method according to claim 3, which is characterized in that controlled described using PID
Algorithm processed is calculated according to the acceleration error after PID control amount, further includes:
Low-pass filtering is carried out to the PID control amount.
6. according to the described in any item train running speed autocontrol methods of claim 3 to 5, which is characterized in that described
Exporting corresponding Train Control amount according to the PID control amount includes:
The Train Control amount in this control period is calculated according to the PID control amount；
Judge whether the Train Control amount exceeds default control variable quantity limit value relative to the variable quantity in last control period；
If it is not, then exporting the Train Control amount；
If so, the Train Control amount is modified and is exported.
7. a kind of train running speed automatic control device characterized by comprising
Receiving module, the actual acceleration that actual speed and acceleration transducer for receiving velocity sensor transmission are sent；
Computing module, for according to target velocity and the actual speed calculating speed error；It is calculated according to the velocity error
Reference acceleration；Acceleration error is calculated according to the reference acceleration and the actual acceleration；
Control module, for being calculated using pre-set control algorithm according to the acceleration error；
Module is adjusted, for exporting the trailer system or braking system of corresponding Train Control amount to train, described in adjusting
Actual speed.
8. a kind of train running speed automatic control equipment characterized by comprising
Memory, for storing computer program；
Processor, for executing the computer program to realize such as train running speed as claimed in any one of claims 1 to 6
The step of autocontrol method.
9. a kind of train running speed automatic control system, which is characterized in that including install velocity sensor ON TRAINS plus
Velocity sensor and train running speed automatic control equipment as claimed in claim 8.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer in the computer readable storage medium
Program, to realize such as train operation speed as claimed in any one of claims 1 to 6 when the computer program is executed by processor
The step of spending autocontrol method.
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